All rational animals, on whatever planet, are bound by the same moral law as humans. All of them would have the same potential for some relationship with God as humans.
It is possible, if such rational animals exist, that some of them have never sinned.
One thing is for sure. The bible is clear that “baptism” here on earth is for the descendents of Adam. No others need apply.
It couldn’t be, unless Adam had some children that went on rocket ships to Mars, or something like that.